期刊
MICROMACHINES
卷 11, 期 2, 页码 -出版社
MDPI
DOI: 10.3390/mi11020132
关键词
autonomous robots; micromanipulators; mobile robots; robot control; microassembly
类别
资金
- National Science Foundation [1923154]
- Directorate For Engineering
- Div Of Civil, Mechanical, & Manufact Inn [1923154] Funding Source: National Science Foundation
This describes the application of a visual servo control method to the microrobotic manipulation of polymer beads on a two-dimensional fluid interface. A microrobot, actuated through magnetic fields, is utilized to manipulate a non-magnetic polymer bead into a desired position. The controller utilizes multiple modes of robot actuation to address the different stages of the task. A filtering strategy employed in separation mode allows the robot to spiral from the manipuland in a fashion that promotes the manipulation positioning objective. Experiments demonstrate that our multiphase controller can be used to direct a microrobot to position a manipuland to within an average positional error of approximately 8 pixels (64 mu m) over numerous trials.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据